CN104583713B - The method that the body surface of preferably structuring is imaged and the device for imaging - Google Patents

The method that the body surface of preferably structuring is imaged and the device for imaging Download PDF

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CN104583713B
CN104583713B CN201380045193.6A CN201380045193A CN104583713B CN 104583713 B CN104583713 B CN 104583713B CN 201380045193 A CN201380045193 A CN 201380045193A CN 104583713 B CN104583713 B CN 104583713B
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light
video camera
pattern
linear
image
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CN104583713A (en
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W·施密特
B·米切利斯
R·瓦格纳
T·利林布鲁姆
E·利林布鲁姆
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INB Vision AG
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/245—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures using a plurality of fixed, simultaneously operating transducers
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/275—Image signal generators from 3D object models, e.g. computer-generated stereoscopic image signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • G01B11/2513—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with several lines being projected in more than one direction, e.g. grids, patterns
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • G01B11/2518—Projection by scanning of the object
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/10544—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum
    • G06K7/10712—Fixed beam scanning
    • G06K7/10722—Photodetector array or CCD scanning
    • G06K7/10732—Light sources
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T1/00—General purpose image data processing
    • G06T1/0007—Image acquisition
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G06T17/10—Constructive solid geometry [CSG] using solid primitives, e.g. cylinders, cubes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating 3D models or images for computer graphics
    • G06T19/20—Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/292—Multi-camera tracking
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/536—Depth or shape recovery from perspective effects, e.g. by using vanishing points
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/579—Depth or shape recovery from multiple images from motion
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/243—Image signal generators using stereoscopic image cameras using three or more 2D image sensors
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00—Indexing scheme for image data processing or generation, in general
    • G06T2200/04—Indexing scheme for image data processing or generation, in general involving 3D image data
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00—Indexing scheme for image data processing or generation, in general
    • G06T2200/21—Indexing scheme for image data processing or generation, in general involving computational photography
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
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    • G06T2207/10004—Still image; Photographic image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
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    • G06T2207/10028—Range image; Depth image; 3D point clouds
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    • G06—COMPUTING; CALCULATING OR COUNTING
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    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10141—Special mode during image acquisition
    • G06T2207/10152—Varying illumination
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20076—Probabilistic image processing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20212—Image combination
    • G06T2207/20221—Image fusion; Image merging
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2215/00—Indexing scheme for image rendering
    • G06T2215/06—Curved planar reformation of 3D line structures
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2219/00—Indexing scheme for manipulating 3D models or images for computer graphics
    • G06T2219/20—Indexing scheme for editing of 3D models
    • G06T2219/2016—Rotation, translation, scaling
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2219/00—Indexing scheme for manipulating 3D models or images for computer graphics
    • G06T2219/20—Indexing scheme for editing of 3D models
    • G06T2219/2021—Shape modification

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Abstract

The present invention relates to a kind of methods that the surface for making object is imaged, the surface is preferably structured surface, the method scans the surface using at least one linear scan video camera, wherein the surface is illuminated by the mode of structuring, and wherein, in order to rebuild the surface, the image to capture carries out the assessment and/or space assessment of time orientation, optionally takes into account the relative movement between linear camera and surface.The method is executed by the device that the surface of object is imaged, and the surface is preferably structured surface.

Description

The method that the body surface of preferably structuring is imaged and the device for imaging
Technical field
The present invention relates to a kind of methods that the body surface for making preferred structure is imaged, and preferably apply the method Corresponding intrument.Term " surface of structuring " herein should be understood as the concept of broad sense as far as possible, both include flat Surface also includes three-dimensional surface, such as molded surface and textured surface.In addition, term " imaging " herein should be managed Solution is the meaning of " detection of image and shape ", the meaning of especially 3D detection.
Method of the invention is fundamentally a kind of measuring method.This measuring method is more next in recent years More paid attention to.Especially in short range, 3D measuring technique has obtained height as a kind of special measurement method Development.
Background technique
Method of many for measuring surface is well known, and these methods are used in as much as possible in various applications. For the high-precision region 3D measurement for, it is known that there are various Laser Scannings (S.Son, H.Park, K.H.Lee: to be used for Reverse engineering and the automatic laser scanning system of detection (Automated laser scanning system for Reverse engineering and inspection), " International Periodicals (International of lathe and manufacture Journal of Machine Tools and Manufacture) ", the 8th phase of volume 42, in June, 2002,889-897 Page)；With optical cross-section method (light section approach) (Shirai, Yoshiaki and Motoi Suwa: with rangefinder come It identifies polyhedron (Recognition of Polyhedrons with a Ranger Finder), article is published in 1971 9 " the Second International Joint Conferences on Artificial Intelligence (2 that month London is heldnd International Joint Conference On Artificial Intelligence) ", 1971, Washington, Copper is published, the 80-87 pages of proceeding), and most The multistage method of the important videographic measurment using effective fringe projection, such as phase shift (phase shifting) side Method (Lilienblum E. and Michaelis B: rebuilds optical 3-dimensional surface (Optical 3d by more phase phase shift methods Surface reconstruction by a multi-period phase shift method), " Chinese journal of computers (Journal of Computers(JCP)"；2 (2): 73-83, in April, 2007)；Or time correlation method (Albrecht Peter, Michaelis Bernd: improvement (the Improvement of the of the spatial resolution of optics 3-D measurement method Spatial Resolution of an Optical 3-D Measurement Procedure), " IEEE of measurement and instrument Handle (IEEE Transactions on Instrumentation and Measurement) ", 1998 volume 47, the 158-162 pages, Brisbane；) and the relevant single-step process in such as region (Kanada, T. and Okutomi, M: with suitable The Stereo Matching Algorithm of answering property window: theoretical and experiment (A stereo matching algorithm with an Adaptive window:theory and experiment), " IEEE of pattern analysis and machine intelligence handles (IEEE Transactions on Pattern Analysis and Machine Intelligence) ", 16 (1994), the 9th phase, the 920-932 pages).
On the whole, realize high measurement accuracy be at all using structure light (Valkenburg, R.J. with Mclvor, A.M.: (Accurate 3d measurement using a is measured using the accurate 3d of structured-light system Structured light system), " image and vision calculate (Image and Vision Computing) ", 16 (1998), the 2nd phase, the 99-110 pages).The spatial precision that multistage method is realized, which is up to, measures the 1/10 of dimension of object, 000:(Wiora, G.:(Optische 3D-Messtechnik: Gestaltvermessung mit einem Erweiterten Streifenprojektionsverfahren), Ruprecht-Karls-Universitat Heidelberg, paper, 2001).Existing market for Fringe projection system has multiple system manufacturers and many products.It is related to going out for above-mentioned conventional stereo vision system there are also a series of Version object.Only by way of example, 197 38 44 02 414C2 and DE 199 28 of 480C1, DE of DE is listed herein 341C2.The common ground of these systems is that they all use matrix camera chain and projector and/or laser technology to generate photograph Mingguang City.
In order to measure bigger surface while maintaining accuracy requirements, it is all it is existing based on using matrix video camera come The system for carrying out multiple measurements must seriatim capture image.In some applications, machine can be used in order to realize the purpose Control measuring technique.In general, it is simply displaced and is rotated using corresponding device.No matter using any method, It can especially be led to the problem of in the case where measuring big part and/or big surface.For each measurement capture, imaging system Movement must stop (stop simultaneously operating again).This to stop and operate again to lead to significant time delay problem, this is to capture Inevitable result caused by the stagnation of system.In addition, start and stop operation and increase downtime, and/or start and Service life/operation the life expectancy for reducing 3D measuring technique is stopped operation, and the acceleration of all mechanical parts is caused to be damaged Consumption.Furthermore halation and mirror-reflection also bring along problem.The prior art can only be suitable for industrial application in limited degree.
Based on the another of the existing multistage method (such as method of phase shift and time correlation) using matrix video camera One disadvantage is that high integration and high read access time are imaged.This typically results in the time of measurement more than 50 microseconds (ms). Therefore, significant systematic measurement error especially can be generated according to amplitude when the vibration for measuring body surface is greater than 10Hz.This Especially problematic in industrial processes-for example in molding apparatus or when measuring moving material.
Summary of the invention
The problem to be solved by the invention is to provide a kind of methods that the surface for making object is imaged, and the surface is preferably The surface of structuring, and the surface can be made to be imaged within the time as shortest as possible with the repeatable precision realized.It is described The main application for continuously measuring of method.Similarly, present invention provides corresponding devices.
In order to achieve the above-mentioned object of the invention, according to an aspect of the present invention, provide what a kind of surface for making object was imaged Method, the method use at least one linear camera to scan the surface, wherein the surface is shone by structure light It is bright, wherein the image captured is sequentially in time and/or spatial order is analyzed, selectively by the linear camera Relative movement between the surface is taken into account, to rebuild the surface, which is characterized in that on time using single image Between the algorithm of analysis of sequence and/or spatial order determine that corresponding picture point, the picture point make the triangulation of surface point In conjunction with image function, the linear scan video camera setting at and be oriented so that projection centre and all described linearly sweep The linear transducer of video camera is retouched across plane common between them.
According to another aspect of the present invention, a kind of device that the surface for making object is imaged is provided, described device has At least one linear scan video camera, and at least one light source of the structured lighting for surface, wherein the image captured Sequentially in time and/or spatial order is analyzed, selectively will be opposite between the linear camera and the surface Movement is taken into account, to rebuild the surface.
The structure of effective optics 3D measuring system with linear scan video camera of the invention has novelty.This Invention reached based on the structure of special linear scan video camera make light pattern appropriate with static projection or variation projection come Purpose is imaged.The reconstruction on surface is the definition (time-dependent definition) based on time correlation in image function, It is that the picture point (image point) of each detection provides a light, and in view of video camera and measures object in measurement space The space of body is mobile.In order to define image function, it is necessary to carry out special calibration to linear scan video camera.For example, this Kind special calibration is based on to be arranged to and scanning line is not parallel, the lines with different angles carry out at various height Calibration, wherein the geometric position of video camera can also be determined by above-mentioned calibration.It should be noted that herein, occurring The lines of the characteristic point of camera review be by linear scan video camera different position captures to calibration field The result of (calibration field).The definition of time correlation and static defining can be obtained from these points.
By using this definition, can by the image captured in chronological order and/or the spatially analysis of sequence Corresponding picture point is found, the picture point can make the triangulation of 3D surface point in conjunction with the image function of time correlation.It is suitable It is diversified for sharing in the algorithm for searching for corresponding picture point.They depend on structure, the camera chain of camera chain Movement, measure object movement and projection pattern (projected patterns) number amount and type.
It has been desirable in certain applications, being illuminated compared with other measurement methods using linear scan video camera and integrated structure Come make surface 3D measurement have the advantages that it is significant.The structured illumination make the texture on the measurement method and body surface without It closes.Similarly, this method is different from passively method, i.e., different from the method for not structured illumination.It is imaged using linear scan Machine rather than use matrix video camera, this can be realized scanning of a surface.This enables this method to apply with continuous moving In the continuous process on surface (such as web material), additionally it is possible to be applied to rotational symmetry part (such as shaft and rotating object, such as Measure tire side wall) effective measurement.
Detailed description of the invention
It, can there are many selections at this point, in order to prepare and implement the present invention in an advantageous manner.For this mesh , referring initially to the claim for being subordinated to claim 1 and 19, then referring to being retouched below to the preferred embodiment of the present invention It states and attached drawing.In the description of preferred embodiment embodiment and attached drawing of the invention, can also explain it is other generally preferably The further development of embodiment and institute's teaching content.In the accompanying drawings:
Fig. 1 shows the partial schematic diagram of one embodiment of the basic configuration of the apparatus according to the invention, wherein using root According to of the invention based on the exemplary method for having the camera chain there are two linear scan video camera；
Fig. 2 shows the partial schematic diagrams of one embodiment of the basic configuration of the apparatus according to the invention, wherein using root According to the exemplary method of the invention based on the camera chain with multiple linear scan video cameras；
Fig. 3 shows the partial schematic diagram of one embodiment of the apparatus according to the invention, wherein have it is disposed in parallel can Projector is programmed as light source；
Fig. 4 shows the partial schematic diagram of one embodiment of the apparatus according to the invention, wherein having disposed in parallel quiet State projector is as light source；
Fig. 5 shows the partial schematic diagram of one embodiment of the apparatus according to the invention, wherein light in that case Pattern is generated by luminous point；
Fig. 6 shows the partial schematic diagram of one embodiment of the apparatus according to the invention, wherein generating in that case Be single luminous point；
Fig. 7 shows the partial schematic diagram of one embodiment of the apparatus according to the invention, wherein leading in that case Setting multirow luminous point is crossed to generate the luminous dot pattern of overlapping；And
Fig. 8 shows the embodiment of the apparatus according to the invention completely illustrated, wherein in that case including to pass Sensor system, wherein having point illumination.
Specific embodiment
Fig. 1 to Fig. 8 shows the different embodiments instructed according to the present invention, is on the one hand about the apparatus according to the invention Embodiment, be on the other hand about embodiment according to the method for the present invention.Make body surface in order to realize (this can be light Sliding surface or the surface 3D and/or surface with texture of structuring) imaging purpose, scan object especially for realizing The purpose on surface, it is essential that using at least one linear scan video camera.The surface is illuminated by structure light.It captures To image sequentially in time and/or spatial order is analyzed, by the relative movement between linear scan video camera and surface It takes into account, is particularly realized using imaging (imaging) and/or dimensioning (dimensioning) and rebuild the surface Purpose.
Relative to calculating for time and measurement accuracy, the efficiency of this method is decisively determined by the knot of camera chain Structure.As shown in Fig. 1 and Fig. 2 in a manner of exemplary, when system uses two or more video cameras, advantageously make video camera Collinearly orient.In that case, in projection centre 1 and system all linear scan video cameras linear transducer 2 across Common plane.Due to collinearly orienting, identical surface point 3 is imaged in corresponding picture point (i.e. pixel), and always in phase It is detected on same time point.If the line frequency (line frequency) of all video cameras and time started are all identical , corresponding picture point is always in identical image line (image line).Therefore, this can simplify significantly for search pair The algorithm for the picture point answered.In addition, if the projection of light pattern changes with the time, this can make the light on two video cameras The row change in location of pattern is interrelated on spatial position.For this purpose, the list with known correlation function is analyzed The gray value of a image column.The deviation of the synteny of camera chain leads to measurement error or for searching for corresponding picture point Algorithm in must by they separately consider.
In order to collinearly orient, need to capture suitable, shared, common pattern by video camera.By using taking the photograph The Iterative matching of camera orientation adjusts video camera, so that two video cameras all capture pattern in same position.The pattern must There must be the discrete feature perpendicular to line direction.The surface for being caught in pattern should have three-D grain.This pattern can be by Texture in active illumination or the object being captured generates.In order to orient, calibration field can also be used.
If the projection of light pattern changes with the time, and video camera collinearly orients, and one for searching for corresponding picture Point specific possibility include use mean value for zero cross-correlation (zero-mean cross-correlation).Assuming that G and G ' It is two different images of linear scan camera chain, and ri=G (u, v+i) and Si=G ' (u ', v+i) is these figures The gray value of picture, in the case where giving corresponding horizontal sub-pixel interpolation, wherein u and u ' can be real number.Then, for tool There are n different pattern projections
Available related coefficient, provides and is similar to pixelWith(corresponding average value is by indicating).If related coefficient is maximum value, the two pixels are accurately Corresponding picture point.By triangulation, the depth value about camera chain therefrom can be directly calculated.Due to video camera Synteny, it is convenient to omit vertical sub-pixel interpolation.
When using sinusoidal light pattern, in another embodiment of the invention, according to the application of phase shift method, moreover it is possible to It is enough that related coefficient is calculated by phase shift.If a series of phase angle q=(q of gray values1,q2,...,qn) be by
Come what is defined, then consider phase jump, it is expected that Obtained related coefficient byIt obtains.
In order to ensure making resurfacing have maximum lateral resolution (regional resolution), scanning speed and/or line frequency are answered Be chosen to vertical resolution (in a scanning direction) and correspond approximately to be (in a scanning direction) horizontal resolution n Times.Compared to Pixel Dimensions, this method ensures that partial sweep position will not be with all riAnd/or siAnd change significantly.
In principle, measurement method according to the present invention can be applied to any kind of structure light.However, measuring speed takes Certainly in line frequency, and thus depend on luminous intensity and quick alternating pattern sequence projection.As further design, following three Suggest being pattern projection of the structured illumination using dispersion in a difference modification:
(i) is as shown in figure 3, multiple programmable pattern projectors 5 operate in parallel.It, can by being overlapped and slightly amplifying Increase the luminous intensity of the projection pattern 4 on body surface.In order to realize the measuring speed of high speed, programmable projector 5 be must be able to It is enough correspondingly to generate quick pattern sequence.
(ii) the more a static pattern projectors of operate in parallel.It is single by switching in that case relative to (i) The opening and closing state of projector, to generate different light patterns.In Fig. 4, light pattern 4 passes through multiple open states Projector 6 generates on a surface of an.All other projector 7 is to close, and therefore do not generate any light pattern.If Projector 6 is closed, then correspondingly multiple in other projectors 7 can open, and can generate other patterns.In order to realize height The measuring speed of speed, projector allow for correspondingly quick closedown.
(iii) pattern needed for is made of single luminous point.Fig. 5 shows illumination 8 and is surveying by using multiple luminous points 9 It measures and generates light pattern 10 on body surface 11.Theoretically, this structure is unrelated with the producing method of point.
In fig. 6, it is illustrated that embodiment illustrate how LED luminous point generates, wherein LED12's Light is focused on single luminous point 9 by reflector 13 and lens 14.
As shown in fig. 7, in order to generate the pattern of different positioning, multiple luminous point strings 15 are arranged to mutually slightly partially It moves.Therefore, by opening single luminous point 16 and/or closing single luminous point 17, light pattern 10 is generated on a surface of an.Such as Shown in Fig. 8, in order to focus luminous point on straight line, luminous point string 15 optionally inwardly slightly rotates.In exemplary fashion, this Place shows sensor, together with linear scan video camera 18, luminous point string 15, measurement body surface 19, and scanning mobile 20.
By using the technology for being proposed to be used in distraction pattern projection, can be added deduct by increasing additional video camera to increase Lack the width (as shown in Figure 2) of system, also the width (as shown in Figure 3-Figure 5) of adjustable corresponding lighting system.This side Formula can be suitable for the requirement in terms of the measurement volume, Measurement Resolution and measuring speed of the method for a variety of 3D application, without Change method.
The measurement method can be executed in very high line frequency using all three modification of illumination.Therefore, it removes Measuring speed itself, also generates another advantage.Since integrating time is short (this is that high row frequency band carrys out inevitable result), It can be largely avoided mobile fuzzy, or even in the case where measuring object and fast moving and such.
Therefore, by way of example, the present invention can also very well detect the body surface moved on a moving belt.This Outside, when there is vibration, moreover it is possible to which largely Shangdi avoids measurement error, this is because mobile fuzzy is only in measurement body surface Corresponding high-frequency Shi Caineng becomes obvious.However, in high-frequency, the amplitude of vibration is typically too small, so that it is no longer to survey Accuracy of measurement has any influence.This is the essential distinction with the known multistage method using matrix video camera.
In addition to three modifications of illumination, other structures are also feasible.Dynamic light pattern also can be through moving lens by projecting To generate.Pattern can also be generated by special light source, such as laser.In addition, it is necessary to understand, pattern sequence must not If repeatable.The generation of pattern can also be carried out using random device.By way of example, pattern can be by utilizing photograph The intrinsic texture in bright source generates or is generated by the artifact (artifacts) of light source itself or produced in projection process It is raw.This must correspondingly consider measuring method.
Theoretically, measurement method of the invention can also be executed using only a video camera.However, in such case Under, illumination needs special calibration.Calibration a possibility be its shape is detected according to light pattern spatial position, and It stores it in lookup table.Then, in actual measurement, by searching for table, come from the light pattern shape detected Derive depth information.
Structure with light beam dialyte lens provides other feasibilities for application measurement method of the invention.In such case Under, optical path is manipulated in imaging process, so that the imaging of a video camera is via multiple true or virtual projection centre 1 And formed, to realize the triangulation for the purpose of calculating 3D point.
Method of the invention can also be applied in deviation measurement (deflectometric measurement) principle.? In this case, using illumination, so that the mirror portion reflected on cameras capture surface, and provided for 3D resurfacing Basis.
In addition, pattern is projected to diffusing reflection surface (such as abrasive segments or canvas) first, so for deviation application The mirror image of the illumination auxiliary surface is directly captured and is analyzed on a surface of an by video camera afterwards.
In conclusion it is again noted that the device and method being related to according to the present invention, the 3D shape on surface can pass through The not contact scanning on surface (bumps, structure, quality etc.) and rebuild line by line.The present invention is particularly applied to need with high-precision Exactness simultaneously rapidly detects the shape on big surface and the field of texture.Present invention is particularly suitable for the fields of surface test technology Application.By continuous scanning process, corresponding production process is being given, can executed with real-time operation mode and continuously be tested Card.In addition, by the way that multiple linear scan video cameras are linked together, measuring device of the invention can be exaggerated or minimized to Arbitrary scan width.
About the further advantageous embodiment of the apparatus according to the invention, in order to avoid repeating, and in this reference The main part and appended claims of book.
Finally, needing specifically mentioned to be that the exemplary embodiment of the above-mentioned apparatus according to the invention is only used for power of interpretation The claimed introduction of benefit, but these introductions are not limited to exemplary embodiment.
List of reference numbers
1 projection centre
2 linear transducers
3 surface points
The light pattern of 4 body surfaces
5 programmable projectors
6 projectors (unlatching)
7 projectors (closing)
8 illuminations
9 luminous points
10 light patterns
11 measurement body surfaces
12 LED
13 reflectors
14 lens
15 luminous point strings
16 points (unlatching)
17 points (closing)
18 linear scan video cameras
19 measurement body surfaces
20 scanning movements

Claims (29)

1. a kind of method that the surface for making object is imaged, the method use at least one linear camera to scan the table Face, wherein the surface is illuminated by structure light, wherein the image captured is sequentially in time and/or spatial order is divided Analysis, selectively takes into account the relative movement between the linear camera and the surface, to rebuild the surface, Be characterized in that, using single image in chronological order and/or the algorithm of the analysis of spatial order determines corresponding picture point, institute Stating picture point makes the triangulation of surface point in conjunction with image function, the linear scan video camera setting at and be oriented so that The linear transducer of projection centre and all linear scan video cameras is across plane common between them.
2. the method according to claim 1, wherein the structure light includes the quiet of the light pattern on the surface State or time-varying projection.
3. according to the method described in claim 2, the light source is mutual it is characterized by: the structure light is generated by multiple light sources Parallel arrangement, wherein single light pattern can overlap each other.
4. according to the method described in claim 3, it is characterized by: the structure light is generated by pattern projector.
5. according to the method described in claim 3, it is characterized by: be provided with Optical devices after the light source, the optics Device ensures stability of the single light pattern on depth bounds.
6. according to the method described in claim 3, it is characterized in that, projection static light pattern, wherein different light patterns are by opening Light source and/or pattern projector are opened and closed to generate, is to be generated by the not negative lap of single light pattern.
7. according to the method described in claim 2, it is characterized in that, the light pattern and/or the light pattern it is temporally suitable The sequence of sequence is programmable.
8. according to the method described in claim 2, it is characterized in that, the linear lighting of structuring is made of single led point, wherein Generate different light patterns.
9. according to the method described in claim 8, it is characterized in that, the different light pattern is described single by directly controlling LEDs is generated.
10. method according to claim 1 or 2, which is characterized in that caught in a series of lines projected with alternating pattern The surface is caught, to obtain the particular sequence of gray value from each picture point captured, the picture point can be through photogrammetric point Analysis.
11. according to the method described in claim 10, it is characterized in that, can be by using the correlation of specific gray value sequence Function searches for corresponding picture point.
12. according to the method for claim 11, which is characterized in that the correlation function and phase shift of the gray value sequence Algorithm is used in combination.
13. method according to claim 1 or 2, which is characterized in that caught by single linear scan video camera on the surface It catches, wherein play the role of rebuilding the surface in the phase angle of template gray value or phase shift algorithm.
14. described the method according to claim 1, wherein image function plays the role of rebuilding the surface Image function for each image and/or each picture point provides a light in measurement space, by the linear scan video camera and/ Or the relative movement between the object is taken into account.
15. described according to the method described in claim 2, it is characterized in that, image function plays the role of rebuilding the surface Image function for each image and/or each picture point provides a light in measurement space, by the linear scan video camera and/ Or the relative movement between the object is taken into account.
16. according to the method for claim 14, which is characterized in that the image function is defined relative to the time.
17. according to the method for claim 15, which is characterized in that the image function is defined relative to the time.
18. according to the method for claim 16, which is characterized in that suitable common pattern is captured by video camera, For example be calibration field, and wherein the video camera can by camera calibration to Iterative matching adjust so that Two video cameras are in identical position capture pattern.
19. according to the method for claim 16, which is characterized in that due to the conllinear orientation of the linear scan video camera, Make the correspondence picture point of identical surface point imaging, point is detected at the same time.
20. according to the method for claim 16, which is characterized in that if the line frequency of the linear scan video camera and starting Time is identical, and the corresponding picture point is positioned at identical image line.
21. according to the method for claim 17, which is characterized in that if the projection time to time change of light pattern, light figure The variation line by line of case opsition dependent in two linear cameras is associated.
22. according to the method for claim 16, which is characterized in that by applying deviation measuring principle, wherein in this feelings It is able to use illumination under condition, so that the mirror portion of the reflection on cameras capture surface, and basis is provided for imaging.
23. according to the method for claim 16, which is characterized in that using illumination, selectively there is additional scattering table Face, so that the mirror portion of the reflection on the body surface that camera shooting machine testing is caught in, and basis is provided for imaging.
24. according to the method for claim 17, which is characterized in that described by special light sources or by random device Light pattern is generated through moving lens by projection, and by way of example, the special light sources are laser.
25. a kind of device that the surface for making object is imaged, described device are particularly applied according to claim 1 to any one of 24 The method, described device have at least one linear scan video camera, and at least one of the structured lighting for surface A light source, wherein the image captured is sequentially in time and/or spatial order is analyzed, and selectively linearly takes the photograph described Relative movement between camera and the surface is taken into account, to rebuild the surface.
26. device according to claim 25, which is characterized in that two, three, or more linear scan video camera shape At camera chain.
27. device according to claim 26, which is characterized in that the video camera collinearly and/or coplanarly orients.
28. device according to claim 26, which is characterized in that the linear scan video camera setting and be oriented so that The linear transducer of projection centre and all linear scan video cameras is across common plane.
29. device according to claim 25, which is characterized in that generate structured lighting using laser or LED element.
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